CN113636362B

CN113636362B - Automatic operation method and system for unmanned container truck in port empty box yard

Info

Publication number: CN113636362B
Application number: CN202111184254.XA
Authority: CN
Inventors: 张贺超; 王里; 张天雷
Original assignee: Beijing Zhuxian Technology Co Ltd
Current assignee: Beijing Zhuxian Technology Co Ltd
Priority date: 2021-10-12
Filing date: 2021-10-12
Publication date: 2021-12-28
Anticipated expiration: 2041-10-12
Also published as: CN113636362A

Abstract

The application provides an automated operation method and system of an unmanned card collection in a port empty box yard, and the method comprises the following steps: the wharf operating system sends a loading and unloading instruction to the forklift and sends a shell bit instruction for operation to the unmanned collection card; the unmanned card collection runs to a waiting position before operation; the wharf operating system sends the current position and the waiting state of the unmanned collective card to the fork lift truck; binding an unmanned container truck and a container by the stacking machine; the wharf operating system sends information of the stacking machine and the container to the unmanned container truck; the unmanned collection card runs to the operating bay; the wharf operating system sends the current position and the locking state of the unmanned truck to the forklift; the stacking machine loads and unloads the unmanned collecting card, and drives away from a passing area of the unmanned collecting card; the wharf operating system sends a driving-away operation area instruction to the unmanned truck; the unmanned truck drives away from the operation area, and the full-automatic operation of the unmanned truck in an empty box yard can be realized.

Description

Automatic operation method and system for unmanned container truck in port empty box yard

Technical Field

The application relates to the technical field of automatic driving, in particular to an automatic operation method and system for an unmanned truck at a port empty box yard.

Background

Unmanned container trucks, called unmanned trucks for short, have been increasingly used in ports and other situations where automated horizontal transport of containers is required. In this scenario, the unmanned truck not only needs to complete unmanned driving, but also needs to automatically cooperate with a shore bridge (i.e., a shore crane) to perform loading and unloading operations on the container, or automatically cooperate with a yard bridge (i.e., a gantry crane) to perform loading and unloading operations on the container. In a container yard, the ratio of heavy to empty containers is about 1: 1. The heavy boxes must be stacked and taken by a gantry crane. The empty boxes can be piled and taken by using a gantry crane and can also be piled and taken by using a stacking machine. Because the price of the small stacking machine is far lower than that of a large-scale gantry crane, an empty box area is specially set up in a container yard in order to save the stacking cost. The empty boxes and the heavy boxes are stored separately, the empty boxes in the empty box area are stacked and taken by a small stacking machine, and the heavy boxes in the heavy box area are stacked and taken by a large gantry crane. Therefore, half of the using amount of the gantry crane can be saved, and the piling cost is saved.

At present, in the process of performing stacking Operation by using a stacking machine in an empty box area, firstly, an unmanned truck receives an Operation instruction issued by a Terminal Operation System (TOS), and a driver drives the unmanned truck to enter a waiting area near an Operation position. Then, the operator observes the unmanned aggregate card in the waiting area, binds the stacker operated by the operator with the unmanned aggregate card and the operation container, reports the bound unmanned aggregate card to the TOS, and whistles or makes a gesture to the driver to prompt the driver to drive the unmanned aggregate card to an operation position. Then, the driver drives the unmanned truck to the operation position, and after the unmanned truck is stopped stably, the driver whistles or makes a gesture to the operator to prompt the operator that the stacking operation can be started. Then, the operator takes or puts the box from the unmanned collecting card through the stacking machine, and after the box taking or putting is completed, a whistle or a gesture is made to a driver of the unmanned collecting card to prompt that the stacking machine completes the stacking operation of the unmanned collecting card. Finally, the driver drives the truck away from the work location. And after observing that the unmanned truck drives away from the operation position, the operator of the stacking machine continues to perform subsequent operation.

Therefore, when the unmanned collecting card is matched with the stacking machine to operate in the empty box area, a full-automatic operation mode cannot be adopted like the unmanned collecting card and a shore bridge or a yard bridge, manual participation is needed, namely, a driver is needed to operate the unmanned collecting card on site, and then the unmanned collecting card is matched with the stacking machine to perform stacking operation. This reduces the efficiency of the empty box area stacking operation. In addition, in the process of performing stacking operation by matching the unmanned aggregate card with the forklift, an operator needs to select a target unmanned aggregate card by naked eyes, and information interaction is performed by whistling or gesturing by a driver of the unmanned aggregate card or an operator of the forklift.

Disclosure of Invention

The embodiment of the application aims to provide an automatic operation method and system of an unmanned container truck in a port empty box yard so as to improve the efficiency of empty box area stacking and taking operation.

In order to solve the above technical problem, an embodiment of the present application provides the following technical solutions:

the first aspect of the application provides an automated operation method of an unmanned truck in a port empty box yard, wherein a stacking machine in the port empty box yard at least comprises: the system comprises a human-computer interaction module, a positioning module and a wireless communication module; the method comprises the following steps: the wharf operating system sends a loading and unloading instruction to the forklift and sends a shell bit instruction for operation to the unmanned collection card; the unmanned collecting card runs to a waiting position before operation according to the instruction of travelling to the operation shell position, and sends the current position and the waiting state to the wharf operating system; the wharf operating system sends the current position and the waiting state of the unmanned collective card to the fork lift truck; the stacking machine binds the unmanned collecting card and the container according to the operation information of an operator in the human-computer interaction module based on the current position and the waiting state of the unmanned collecting card, and sends the bound unmanned collecting card and the bound container to the wharf operation system through the wireless communication module; the wharf operating system sends information of the stacking machine and the container to the unmanned container truck; the unmanned collecting card runs to an operation bay according to the information of the stacking machine and the container, and sends the current position and the vehicle locking state of the unmanned collecting card to a wharf operating system after the unmanned collecting card is stopped stably; the wharf operating system sends the current position and the locking state of the unmanned truck to the forklift; the forklift drives to the unmanned collecting card based on the current position and the vehicle locking state of the unmanned collecting card, loads and unloads the unmanned collecting card under the operation of an operator, drives away from a passing area of the unmanned collecting card after the loading and unloading are finished, and sends the current position and the state of finishing an operation task to a wharf operation system through a positioning module and a wireless communication module; the wharf operating system sends a driving-away operation area instruction to the unmanned truck according to the current position of the forklift and the state of completing the operation task; and the unmanned collecting card drives away from the operation area according to the driving away operation area instruction.

The second aspect of the present application provides an automated operation system of unmanned truck at port empty box yard, the stacking machine in port empty box yard includes at least: the system comprises a human-computer interaction module, a positioning module and a wireless communication module; the system comprises: the wharf operating system is used for sending a loading and unloading instruction to the forklift and sending an instruction for going to a working shell position to the unmanned hub; the unmanned collecting card is used for driving to a waiting position before operation according to the instruction of the shell position of the operation and sending the current position and the waiting state to the wharf operating system; the wharf operating system is used for sending the current position and the waiting state of the unmanned container truck to the forklift; the stacking machine is used for binding the unmanned container truck and the container according to the operation information of an operator in the human-computer interaction module based on the current position and the waiting state of the unmanned container truck and sending the bound unmanned container truck and the bound container truck to the wharf operation system through the wireless communication module; the wharf operating system is used for sending information of the stacking machine and the container to the unmanned container truck; the unmanned collecting card is used for driving to an operation berth according to the information of the stacking machine and the container, and sending the current position and the vehicle locking state of the unmanned collecting card to the wharf operating system after the unmanned collecting card is stopped stably; the wharf operating system is used for sending the current position and the vehicle locking state of the unmanned container truck to the forklift; the stacking machine is used for driving to the unmanned collecting card based on the current position and the vehicle locking state of the unmanned collecting card, loading and unloading the unmanned collecting card under the operation of an operator, driving away from a passing area of the unmanned collecting card after the loading and unloading are finished, and sending the current position and the state of finishing an operation task to the wharf operation system through the positioning module and the wireless communication module; the wharf operating system is used for sending a driving-away operation area instruction to the unmanned truck according to the current position of the forklift and the state of completing the operation task; and the unmanned collecting card is used for driving away from the operation area according to the driving away operation area command.

Compared with the prior art, the automated operation method of the unmanned aggregate card in the port empty box yard provided by the first aspect of the present application includes sending a loading and unloading command to the stacker through the dock operating system, sending a command to the unmanned aggregate card, the unmanned aggregate card driving to a waiting position before operation according to the command to the operation shell, sending a current position and a waiting state to the dock operating system, the dock operating system sending the current position and the waiting state of the unmanned aggregate card to the stacker, the stacker binding the unmanned aggregate card and the container according to the operation information of an operator in the human-computer interaction module based on the current position and the waiting state of the unmanned aggregate card, and sending the bound unmanned aggregate card and the container to the dock operating system through the wireless communication module, the dock operating system sending information of the stacker and the container to the unmanned aggregate card, the unmanned aggregate card driving to the operation shell according to the information of the stacker, after the operation is stopped, the current position and the locking state are sent to a wharf operation system, the wharf operation system sends the current position and the locking state of the unmanned aggregate card to a forklift, the forklift drives to the unmanned aggregate card based on the current position and the locking state of the unmanned aggregate card, loads and unloads the unmanned aggregate card under the operation of an operator, drives to leave a passing area of the unmanned aggregate card after the loading and unloading are finished, and sends the current position and the working task completion state to the wharf operation system through a positioning module and a wireless communication module, the wharf operation system sends a driving-out operation area instruction to the unmanned aggregate card according to the current position and the working task completion state of the forklift, and the unmanned aggregate card drives to leave the working area according to the driving-out operation area instruction, so that when the unmanned aggregate card and the forklift are matched for loading and unloading, the unmanned aggregate card and the forklift do not need to interact in a mode of manual whistle or gesture, information interaction is carried out through a wharf operating system, and automatic interaction between the unmanned container trucks and the stacking machines is achieved, so that full-automatic operation of the unmanned container trucks in an empty container yard is achieved, binding errors of the stacking machines in a plurality of unmanned container trucks are avoided, and operation efficiency and accuracy of loading and unloading containers in the empty container yard are improved.

The automated operation system of the unmanned container truck in the port empty box yard provided by the second aspect of the application has the same or similar beneficial effects as the automated operation method of the unmanned container truck in the port empty box yard provided by the first aspect.

Drawings

The above and other objects, features and advantages of exemplary embodiments of the present application will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the present application are illustrated by way of example and not by way of limitation in the figures of the accompanying drawings and in which like reference numerals refer to similar or corresponding parts and in which:

FIG. 1 is a first schematic view of an automated operation architecture of a port empty box yard according to an embodiment of the present application;

FIG. 2 is a first schematic flow chart illustrating an automated operation method of an unmanned card collection in a port empty box yard according to an embodiment of the present application;

FIG. 3 is a schematic flow chart diagram II of an automated operation method of an unmanned card collection in a port empty box yard according to an embodiment of the present application;

FIG. 4 is a schematic diagram of an automated operation architecture of a port empty box yard according to an embodiment of the present application;

FIG. 5 is a timing diagram illustrating the flow of information between the TOS, the unmanned hub, the fork lift truck, and the fork lift truck operator in an embodiment of the present application;

fig. 6 is a schematic structural diagram of an automated operation system of an unmanned card collection in a port empty box yard according to an embodiment of the present application.

Detailed Description

Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which this application belongs.

In view of the prior art, when the unmanned container truck in the empty container area is matched with the stacking machine to carry out container loading and unloading operation, the unmanned container truck and the stacking machine need manual participation, the unmanned container truck cannot realize full-automatic operation, and the efficiency of container stacking and taking operation in the empty container area is reduced. The inventor finds out through a great deal of research that the reason why the unmanned card can not completely realize the automatic loading and unloading operation in the empty box area is that: although the unmanned aggregate card can perform automatic information interaction under the scene of a shore bridge or a field bridge, the automatic information interaction cannot be realized between the forklift and the unmanned aggregate card which cooperate with the unmanned aggregate card to perform loading and unloading operations in the empty box area. Therefore, in order to realize automated operation even in an empty box area by an unmanned aggregate card, it is necessary to perform automated information interaction between the unmanned aggregate card and the forklift.

Specifically, it is installed in a forklift: the device comprises a human-computer interaction module, a positioning module and a wireless communication module. Through the positioning module, the stacking machine can send out position information of the stacking machine. Specifically, the positioning module may be a module based on a multi-mode fusion positioning technology such as Beidou, inertial navigation, and the like. And the human-computer interaction module can accurately acquire the real-time positions of the unmanned collecting card and the stacking machine by combining the accurate positioning and sensing of the unmanned collecting card. Through the man-machine interaction module, an operator of the forklift can lock the target unmanned collecting card under the condition that the unmanned collecting card is not searched by naked eyes. Through wireless communication module for the fork lift truck can go out corresponding information transmission. Thus, the stacking machine can realize automatic information receiving and transmitting like an unmanned card collecting machine. Furthermore, automatic information interaction can be realized between the unmanned container truck and the wharf operating system and between the forklift and the wharf operating system, so that automatic information interaction can also be realized between the unmanned container truck and the forklift through the wharf operating system.

Fig. 1 is a schematic diagram of an automated operation architecture of a port empty box yard in an embodiment of the present application, and referring to fig. 1, the architecture may include: a terminal operating system 101, a data gateway 102, a plurality of unmanned hub cards 103, and a plurality of fork lift trucks 104. Among them, the terminal operating system 101, the plurality of unmanned trucks 103 and the plurality of fork lifts 104 can communicate with each other through high-reliability low-latency port-specific wireless communication pipes. That is, the plurality of the unmanned concentration cards 103 and the plurality of the fork-lift trucks 104 are connected to the data gateway 102 in a unified manner, and the plurality of the unmanned concentration cards 103 and the plurality of the fork-lift trucks 104 do not communicate with each other directly, but perform data forwarding and scheduling management between the plurality of the unmanned concentration cards 103 and the plurality of the fork-lift trucks 104 through the data gateway 102 and the dock operating system 101. Of course, the terminal operating system 101 may communicate with the plurality of unmanned hub 103 and the plurality of fork lift trucks 104 via other types of networks, and the specific type of network used for communication is not limited herein.

In the forklift 104, at least: a human-computer interaction module 1041, a positioning module 1042 and a wireless communication module 1043. The positioning module 1042 enables the forklift 104 to send out its own position information. Through the human-computer interaction module 1041, the operator of the forklift 104 can lock the target unmanned aggregate card without looking for the unmanned aggregate card by naked eyes. Through the wireless communication module 1043, the forklift 104 is enabled to send out corresponding information. Thus, the stacking machine can realize automatic information receiving and transmitting like an unmanned card collecting machine. Furthermore, automatic information interaction can be realized between the unmanned container truck and the wharf operating system and between the forklift and the wharf operating system, so that automatic information interaction can also be realized between the unmanned container truck and the forklift through the wharf operating system.

Next, the automated operation method of the unmanned aggregate card in the port empty box yard according to the embodiment of the present application will be described in detail.

Fig. 2 is a schematic flow chart of an automated operation method of an unmanned card collection in a port empty box yard according to an embodiment of the present application, and referring to fig. 2, the method may include:

s201: and the wharf operating system sends a loading and unloading instruction to the forklift and sends a move-to-work shell bit instruction to the unmanned collection card.

After the wharf operating system obtains the operation tasks, especially for loading and unloading containers in the empty box area, since the unmanned truck and the forklift are required to cooperate through a plurality of steps to complete one operation task, the wharf operating system can decompose the operation task into a plurality of operation instructions based on the loading and unloading operation process in the empty box area.

At the beginning of container loading and unloading, the unmanned truck needs to be driven to the operation area for loading and unloading the container, and the forklift needs to be informed of the loading and unloading operation. Therefore, the wharf operating system sends a loading and unloading command to the forklift first, so that the forklift knows that container loading and unloading operations are required subsequently, and sends a command to go to the operation bay to the unmanned truck, so that the unmanned truck goes to the operation area.

In practical application, the wharf operating system may obtain a plurality of job tasks, and at this time, the wharf operating system may match different unmanned trucks and fork lifts for the plurality of job tasks, or may match the plurality of job tasks to the same unmanned truck and fork lift, and execute them in sequence. The specific unmanned stacking machine and truck for multi-task functions is not limited herein.

S202: the unmanned collecting card runs to a waiting position before operation according to the instruction of the shell position of the operation, and sends the current position and the waiting state to the wharf operating system.

The unmanned card automatically starts to drive to the working shell after receiving a command of going to the working shell sent by the wharf operating system, but does not directly drive to the working shell at the moment, but drives to a waiting position before working, namely a waiting position near the working shell. After the unmanned truck travels to the pre-job waiting position, the current position and the waiting state of the unmanned truck are sent to the wharf operating system to inform the wharf operating system that the unmanned truck has traveled to the pre-job waiting position and is ready to execute a loading and unloading task.

S203: the dock operating system sends the current position and wait state of the unmanned hub to the fork lift.

After receiving the current position and the waiting state of the unmanned aggregate card sent by the wharf operating system, the wharf operating system can determine that the unmanned aggregate card is in the waiting position before the operation and is ready for the operation. At this point, the dock operating system may forward the current location and wait state of the unmanned aggregate card to the fork lift, having informed the fork lift that the unmanned aggregate card is in the pre-job wait position and ready for the job.

S204: the stacking machine binds the unmanned container truck and the container according to the operation information of an operator in the man-machine interaction module based on the current position and the waiting state of the unmanned container truck, and sends the bound unmanned container truck and the bound container truck to the wharf operation system through the wireless communication module.

After the stacking machine receives the current position and the waiting state of the unmanned truck sent by the wharf operating system, the stacking machine can determine whether the unmanned truck is in the waiting position before the operation and is ready for the operation. At this time, the man-machine interaction module in the forklift displays the information of the unmanned container card which is prepared for operation and the information of the container. The operator on the stacking machine can select the corresponding unmanned collecting card through the content displayed by the man-machine interaction module, so that the operator on the stacking machine does not need to look for the unmanned collecting card through naked eyes. And then bind the unmanned container truck of selection and corresponding container, can improve the accuracy that unmanned container truck bound. Then, the information of the bound unmanned container and the bound unmanned container can be sent to a wharf operating system through a wireless communication module of the forklift, and the wharf operating system can know that the forklift is bound to complete the unmanned container and the bound unmanned container.

S205: and the wharf operating system sends the information of the stacking machine and the container to the unmanned hub.

After receiving the information of the bound unmanned collecting card and the container sent by the stacking machine, the wharf operating system sends the information of the stacking machine and the container to the unmanned collecting card bound by the stacking machine, so that the unmanned collecting card can acquire the information of the stacking machine and the container which are matched with the unmanned collecting card to operate, and then the unmanned collecting card drives to an operation bay corresponding to the stacking machine and the container.

It should be noted here that when the task to be completed is a task of unloading a container, that is, a container on the unmanned aggregate card needs to be unloaded, when the forklift performs binding, only the unmanned aggregate card needs to be bound, and the container does not need to be bound. And sending the bound unmanned card collecting information to the wharf operating system by the stacking machine. And the wharf operating system does not need to send the bound container to the unmanned container truck, and only sends the information of the stacker bound with the container.

S206: and the unmanned collecting card runs to an operation berth according to the information of the stacking machine and the container, and sends the current position and the vehicle locking state of the unmanned collecting card to the wharf operating system after the unmanned collecting card is stopped stably.

After receiving the information of the stacking machine and the container sent by the wharf operating system, the unmanned hub can determine that the stacking machine is bound with the corresponding container, and then the unmanned hub continues to drive to the operating berth according to the information of the stacking machine and the container. After the operation bay is stopped stably, the current position and the locking state of the unmanned collecting card can be sent to the wharf operating system to inform the wharf operating system. The unmanned aggregate card can currently perform loading and unloading operations at once.

S207: and the wharf operating system sends the current position and the locking state of the unmanned truck to the forklift.

After receiving the current position and the locked state of the unmanned hub transmitted by the wharf operating system, the wharf operating system knows that the unmanned hub can currently perform loading and unloading operations. At this time, the dock operating system forwards the current position and the vehicle locking state of the unmanned truck to the corresponding stacking machine, so that the stacking machine knows that the unmanned truck is ready for loading and unloading, can perform loading and unloading operation at once at present, and further can start the loading and unloading operation.

S208: the forklift drives to the unmanned collecting card based on the current position and the vehicle locking state of the unmanned collecting card, loads and unloads the unmanned collecting card under the operation of an operator, drives away from a passing area of the unmanned collecting card after the loading and unloading are completed, and sends the current position and the state of completing an operation task to a wharf operation system through the positioning module and the wireless communication module.

After the stacking machine receives the current position and the vehicle locking state of the unmanned collecting card sent by the wharf operating system, the stacking machine can know that the unmanned collecting card reaches the operation bay, is ready for loading and unloading, and can immediately start loading and unloading operation. At the moment, the forklift reminds an operator through the man-machine interaction module, and the unmanned truck is in place. The loading and unloading operation can be started. The operator can now start operating the forklift, and load and unload the unmanned truck by operating the forklift. After the operator finishes the operation of loading and unloading the box of the unmanned truck, the operator can drive the fork-lift truck to drive away from the passing area of the unmanned truck so as to give way for the unmanned truck. After the stacking machine drives away from the passing area of the unmanned collecting card, the stacking machine can acquire the current position of the stacking machine through the positioning module of the stacking machine, and then the current position and the state of completing the operation task are sent to the wharf operating system through the wireless communication module of the stacking machine, so that the wharf operating system can know that the stacking machine completes the loading and unloading operation and drive away from the passing area of the unmanned collecting card.

S209: and the wharf operating system sends a driving-away operation area instruction to the unmanned truck according to the current position of the forklift and the state of completing the operation task.

After receiving the current position and the state of completing the operation task sent by the stacking machine, the wharf operating system can determine that the stacking machine completes the loading and unloading operation and drive away from the passing area of the unmanned truck. At the moment, the wharf operating system sends a driving-away operation area instruction to the unmanned truck, so that the unmanned truck can smoothly drive away from the operation area under the condition of no blockage of the stacking machine.

S210: and the unmanned collecting card drives away from the operation area according to the driving away operation area instruction.

After receiving the command of driving away from the operation area sent by the wharf operation system, the unmanned card can know that the forklift completes the loading and unloading box operation on the unmanned card and can drive away from the operation area. At this time, the unmanned truck automatically drives away from the working area, and then the next working task is started.

As can be seen from the above, in the automated operation method of the unmanned aggregate card in the port empty box yard provided by the embodiment of the present application, the loading and unloading instruction is sent to the stacker through the dock operating system, and the instruction for going to the operation bay is sent to the unmanned aggregate card, the unmanned aggregate card travels to the waiting bay before operation according to the instruction for going to the operation bay, and sends the current position and the waiting state to the dock operating system, the dock operating system sends the current position and the waiting state of the unmanned aggregate card to the stacker, the stacker binds the unmanned aggregate card and the container according to the operation information of the operator in the human-computer interaction module, and sends the bound unmanned aggregate card and the container to the dock operating system through the wireless communication module, the dock operating system sends the information of the stacker and the container to the unmanned aggregate card, the unmanned aggregate card travels to the operation bay according to the information of the stacker, after the operation is stopped, the current position and the locking state are sent to a wharf operation system, the wharf operation system sends the current position and the locking state of the unmanned aggregate card to a forklift, the forklift drives to the unmanned aggregate card based on the current position and the locking state of the unmanned aggregate card, loads and unloads the unmanned aggregate card under the operation of an operator, drives to leave a passing area of the unmanned aggregate card after the loading and unloading are finished, and sends the current position and the working task completion state to the wharf operation system through a positioning module and a wireless communication module, the wharf operation system sends a driving-out operation area instruction to the unmanned aggregate card according to the current position and the working task completion state of the forklift, and the unmanned aggregate card drives to leave the working area according to the driving-out operation area instruction, so that when the unmanned aggregate card and the forklift are matched for loading and unloading, the unmanned aggregate card and the forklift do not need to interact in a mode of manual whistle or gesture, information interaction is carried out through a wharf operating system, and automatic interaction between the unmanned container trucks and the stacking machines is achieved, so that full-automatic operation of the unmanned container trucks in an empty container yard is achieved, binding errors of the stacking machines in a plurality of unmanned container trucks are avoided, and operation efficiency and accuracy of loading and unloading containers in the empty container yard are improved.

Further, as a refinement and an extension of the method shown in fig. 2, the embodiment of the present application further provides an automated operation method of unmanned collection and truck at the port empty box yard. Fig. 3 is a schematic flow chart of an automated operation method of an unmanned card collection in a port empty box yard according to an embodiment of the present application, and referring to fig. 3, the method may include:

s301: and the wharf operating system monitors the interactive information among the wharf operating system, the unmanned truck and the stacking machine through the monitoring module.

In the wharf operating system, a monitoring module is provided. Through the monitoring module in the wharf operating system, interactive information between the wharf operating system and the unmanned truck and between the wharf operating system and the forklift can be monitored, so that the interactive situation between the wharf operating system and the unmanned truck and between the wharf operating system and the forklift can be known conveniently.

S302: the wharf operating system splits the job task into a command of going to a job shell, a command of going away from a job area and a loading and unloading command.

Specifically, step S302 may include:

A. the wharf operating system acquires a job task;

B. the wharf operating system divides the operation task into a plurality of subtasks according to the empty box loading and unloading process;

C. and the wharf operating system divides the plurality of subtasks into a first subtask for controlling the unmanned truck and a second subtask for controlling the fork lift according to the action objects of the subtasks.

The first subtask at least comprises a command of going to the operation shell bit and a command of going away from the operation area, and the second subtask at least comprises a loading and unloading command.

Of course, the wharf operating system can also split other instructions from the job task and act on the unmanned truck or forklift. All split instructions are not exhausted one by one, and can be split according to the actual loading and unloading process.

S303: and the wharf operating system sends a loading and unloading instruction to the forklift and sends a move-to-work shell bit instruction to the unmanned collection card.

For the packing process, the terminal operating system sends a plurality of packing instructions to the fork lift.

For the unloading process, the dock operating system sends an unloading command to the forklift at the unloading target location.

In the process of the specific embodiment, as the wharf operating system and the unmanned truck and the forklift need to communicate for many times, in order to improve the communication efficiency, the unmanned truck and the wharf operating system can communicate with each other through a port wireless communication private network, and the forklift and the wharf operating system can communicate with each other through the port wireless communication private network. Therefore, each operation step between the unmanned container truck and the stacking machine can be decided and monitored through the wharf operation system, and management and tracing of the loading and unloading process of the empty container yard are facilitated. And the port wireless communication private network has low time delay (about 100 ms), and the speed of information transmission is far less than the time of instruction execution, so that the information transfer is carried out through a wharf operating system, the operating efficiency of an empty box storage yard cannot be influenced, and the full automation of the operation of an unmanned truck in the empty box storage yard can be realized.

When the number of the loading and unloading instructions is multiple, that is, when the current forklift needs to execute multiple job tasks, the forklift may specifically execute the following steps:

A. the stacking machine receives a plurality of loading and unloading instructions;

B. the stacking machine sequences the loading and unloading instructions according to the waiting time of the loading and unloading instructions.

That is, the forklift may sort the plurality of loading/unloading commands according to the waiting time, and may sort the loading/unloading commands having a long waiting time in front of the stacker, or may sort the loading/unloading commands having a short waiting time in front of the stacker.

Therefore, the forklift can subsequently execute the loading and unloading operation one by one according to the sorted loading and unloading instructions.

S304: and the wharf operating system stores the interaction information monitored by the monitoring module through the storage module so as to facilitate post supervision.

After the wharf operating system sends a loading and unloading instruction to the forklift and sends an instruction to the unmanned aggregate card to go to the operating shell, a monitoring module in the wharf operating system can monitor that the wharf operating system sends the loading and unloading instruction and the instruction to the operating shell to the forklift and the unmanned aggregate card respectively, and then a storage module in the wharf operating system sends the loading and unloading instruction to the forklift with the wharf operating system monitored by the monitoring module and relevant information of the wharf operating system sending the instruction to the operating shell to the unmanned aggregate card is stored and recorded, so that the wharf operating system can be called and checked later when problems occur. The related information here may be the specific content of the instruction, the issuing object, the receiving object, the issuing time, the receiving time, and the like. The specific content of the related information is not limited herein.

It should be noted here that, in the subsequent steps, information interaction is also performed between the terminal operating system and the unmanned truck and the forklift, and the monitoring module and the storage module in the terminal operating system both monitor and store the information of the interaction.

S305: the unmanned collecting card runs to a waiting position before operation according to the instruction of the shell position of the operation, and sends the current position and the waiting state to the wharf operating system.

In the specific implementation process, the unmanned collecting card calculates the position of the working shell position of-17 meters, namely the waiting position before working, through a self computing system according to the instruction of going to the working shell position, and automatically drives to the waiting position before working. Currently, the pre-job waiting space may also be another space at a certain distance from the job space. The specific position of the waiting space before operation needs to be determined according to the actual situation of the port empty box yard, and is not limited specifically here.

In practical application, after the wharf operating system sends an instruction to the unmanned hub to go to the operating shell, after a period of time, if the wharf operating system does not receive the current position and the waiting state of the wharf operating system sent by the unmanned hub, it is described that a problem occurs in interaction between the wharf operating system and the unmanned hub, then alarm modules in the wharf operating system and the unmanned hub are triggered simultaneously to warn that a problem occurs in interaction between the wharf operating system and the unmanned hub, and a maintenance person is prompted to remove the problem.

Similarly, the same warning method can be used for sending other information between the wharf operating system and the unmanned truck, and the same warning method can be used for sending information between the wharf operating system and the forklift. And will not be described in detail herein.

In practical application, after receiving the operation-bound shell bit instruction, the unmanned aggregate card can first determine whether the operation-bound shell bit instruction is sent by the wharf operating system. That is, whether the instruction for the job waiting position includes the identifier agreed in advance between the wharf operating system and the unmanned aggregate card is checked. If yes, the instruction of going to the job shell bit is sent by the wharf operating system, and the unmanned card collector continues to go to the waiting bit before the job. If not, the operation-bound shell bit instruction is not sent by the wharf operating system, and there may be interference of a hacker, at this time, the unmanned truck stops at the current position, and continues to wait for the operation-bound shell bit instruction sent by the wharf operating system.

Similarly, the same judgment method can be used for sending other information between the wharf operating system and the unmanned truck, and the same judgment method can be used for sending information between the wharf operating system and the forklift. And will not be described in detail herein.

S306: the dock operating system sends the current position and wait state of the unmanned hub to the fork lift.

S307: the stacking machine binds the unmanned container truck and the container according to the operation information of an operator in the man-machine interaction module based on the current position and the waiting state of the unmanned container truck, and sends the bound unmanned container truck and the bound container truck to the wharf operation system through the wireless communication module.

For the boxing process, an operator of the stacking machine needs to judge whether the stacking machine is already forked with an empty box and is in place, and if so, the operator of the stacking machine selects an empty box number and an unmanned container truck through the man-machine interaction module and binds the empty box number and the unmanned container truck. And then sending the binding information to the wharf operating system through the wireless communication module of the forklift. The binding information here refers to the box numbers of the bound unmanned aggregate card and the container.

For the box unloading process, an operator of the stacking machine needs to judge whether the stacking machine is unloaded and in place, and if so, the operator of the stacking machine selects an instruction strip of the unmanned truck needing operation currently through the man-machine interaction module. And then, sending the operation signal corresponding to the selected command bar to a wharf operating system through a wireless communication module of the forklift.

And for the situation that the forklift receives a plurality of loading and unloading instructions, the forklift can bind the unmanned container and the self-service container according to the operation information of the operator in the man-machine interaction module based on the current position and the waiting state of the unmanned container corresponding to the loading and unloading instruction with the longest waiting time. Therefore, the situation that the unmanned truck waits for a long time can be avoided, and the operation efficiency of the empty box storage yard is improved.

In the man-machine interaction module of the stacking machine, at least the position of the stacking machine, the positions and states of all unmanned trucks in the empty box area, a waiting position, a working position, a container position and a lane are displayed. Therefore, operators of the stacking machine can observe all conditions of the empty box yard through the human-computer interaction module in the stacking machine without directly observing the empty box yard, and the condition that the unmanned collecting card is wrongly bound due to observation errors caused by direct observation of the empty box yard is avoided.

After the stacking machine receives the current position and the waiting state of the unmanned collecting card sent by the wharf operating system, the position of the stacking machine and the positions and the states of all the unmanned collecting cards can be displayed in a human-computer interaction module of the stacking machine, and the recommended and bound unmanned collecting card and the recommended and bound container are highlighted according to the principles that the relative path is shortest and the time is most urgent. Therefore, the operator of the stacking machine can directly bind the current most suitable unmanned container truck and container, and further improve the operation efficiency of the empty container yard. And then the stacking machine can bind the recommended unmanned container and the container according to the confirmation information of the operator in the man-machine interaction module.

In practical applications, if the operator of the forklift does not select the unmanned trucks and containers highlighted in the human-computer interaction module, other unmanned trucks or containers are selected. At this time, the human-computer interaction module may also output a prompt page before the operator binds another unmanned truck or container, so as to prompt the operator whether to determine to bind another unmanned truck or container. If the operator selection is positive, then the unmanned aggregate card and container selected by the operator are bound to the current forklift. Therefore, the situation that an operator clicks a wrong unmanned container truck or container bound by the wrong card can be avoided, and the accuracy of operation of the empty container yard is improved.

S308: and the wharf operating system sends the information of the stacking machine and the container to the unmanned hub.

For the packing process, the terminal operating system sends the stacker bound with the terminal operating system and the corresponding container number to the bound unmanned container truck.

For the unload process, the dock operating system sends a workable signal to the selected unmanned hub. After receiving the operable signal, the unmanned collecting card can go to the operating shell.

S309: and the unmanned collecting card runs to an operation berth according to the information of the stacking machine and the container, and sends the current position and the vehicle locking state of the unmanned collecting card to the wharf operating system after the unmanned collecting card is stopped stably.

In the specific implementation process, the unmanned collecting card automatically drives to the operating shell according to the information received from the wharf operating system, and the deviation between the final stopping position and the operating shell is ensured to be within +/-10 cm through high-precision positioning of the unmanned collecting card. And after the unmanned truck is stopped stably, the current position and the locking state of the unmanned truck are sent to a wharf operating system.

S310: and the wharf operating system sends the current position and the locking state of the unmanned truck to the forklift.

For the unpacking process, the dock operating system also needs to send an unpacking command to the stacker. Of course, the terminal operating system may not send the unloading command to the forklift at this time, but after receiving the current position and the locking state of the unmanned aggregate card sent by the terminal operating system, the forklift itself starts the unloading process as long as it is determined that the unmanned aggregate card has reached the working bay and is locked.

S311: the forklift drives to the unmanned collecting card based on the current position and the vehicle locking state of the unmanned collecting card, loads and unloads the unmanned collecting card under the operation of an operator, drives away from a passing area of the unmanned collecting card after the loading and unloading are completed, and sends the current position and the state of completing an operation task to a wharf operation system through the positioning module and the wireless communication module.

In a specific implementation process, after receiving the current position and the locking state of the unmanned aggregate card, the forklift can display the current position and the locking state of the unmanned aggregate card through the human-computer interaction module. Therefore, an operator of the forklift can know that the unmanned collecting card reaches the operation stall through the man-machine interaction module, and can prepare for operation. Further, the operator of the forklift can drive the forklift to approach the unmanned truck and carry out loading or unloading operations on the unmanned truck. Of course, the forklift can also drive to the unmanned truck based on the current position and the locking state of the unmanned truck, and carry out loading or unloading operation on the unmanned truck under the operation of an operator.

After the stacking machine finishes the boxing or unpacking operation, the stacking machine can exit from the passing area of the unmanned truck by itself or under the operation of an operator, and simultaneously sends the current position and the task completion state of the stacking machine to the wharf operation system.

S312: and the wharf operating system sends a driving-away operation area instruction to the unmanned truck according to the current position of the forklift and the state of completing the operation task.

In a specific implementation process, when the wharf operating system determines that the forklift finishes the operation task and drives away from the passing area of the unmanned truck through the current position and the task completion state of the forklift, the wharf operating system sends a command of driving away from the operation area to the unmanned truck.

S313: and the unmanned collecting card drives away from the operation area according to the driving away operation area instruction.

In a specific implementation process, after the unmanned hub receives the command of driving away from the operation area, the unmanned hub automatically drives away from the operation area from the passing area.

In the boxing process, after the unmanned container truck is boxed, the boxing operation in the empty box area is finished, and the unmanned container truck continues to drive to the destination of the operation.

In the unloading process, after the unmanned truck unloads the boxes, the unloading operation in the empty box area is finished, and further, after the unmanned truck drives away from the operation area, the wharf operation system needs to be informed again so that the wharf operates and arranges the subsequent operation of the stacking machine.

Specifically, after the unmanned truck finishes unloading and drives away from the operation area, the method further comprises the following steps:

A. the unmanned hub card sends the current position and the driving-away state of the unmanned hub card to a wharf operating system;

B. the wharf operating system determines whether the unmanned truck leaves the working area or not according to the current position and the driving-away state of the unmanned truck, and if so, sends an empty box stacking instruction to the stacking machine; if not, continuing to receive the current position and the driving-away state sent by the unmanned collecting card until the judgment result is yes;

C. and the stacking machine drives to a target box position according to the empty box stacking instruction to perform stacking operation.

Finally, the automated operation method of the unmanned aggregate card in the port empty box yard in the embodiment of the present application will be clearly described again with a complete process of loading and unloading boxes in the port empty box yard.

Fig. 4 is a schematic diagram of an automated operation architecture of a port empty box yard in an embodiment of the present application, and referring to fig. 4, the architecture may include: TOS401, data gateway 402, unmanned hub 403, and fork lift 404.

The multifunctional onboard terminal of the forklift 404 is provided with a touch screen-based man-machine interaction interface 4041, a message middleware client 4042, a multi-mode high-precision positioning device 4043 and an embedded processor 4044. The multifunctional airborne terminal has the functions of real-time data interaction with an unmanned hub, operation instruction display and update, operation state display of matching and binding the unmanned hub, automatic matching of the unmanned hub and a forklift, calling of the unmanned hub by the forklift, high-precision positioning of the unmanned hub and the forklift, map position display and the like. And performs human-computer interaction with the operator of the fork lift via a touch screen-based human-computer interaction interface 4041. And an operator of the fork lift truck performs manual intervention operations such as matching binding, calling and unbinding during loading and unloading tasks with a specific unmanned hub through a human-computer interaction interface. And performs information interaction with the data gateway 402 and further with the TOS401 through the message middleware client 4042.

In the display screen of the on-board terminal, two parts are mainly displayed:

1. a list of job instructions for the TOS.

All current job instructions are displayed in the list and sorted according to the waiting time of the instructions. And simultaneously, dynamically displaying the operation state of the current unmanned collecting card in real time.

2. A map.

On the map, the position of the forklift itself, the position of the unmanned truck in the empty box area, a waiting position, a work position, a container bay, a lane, and the like are displayed.

In the unmanned cluster card 403, an application 4032 and a messaging middleware client 4033 that interact with the forklift during the operation in an empty box area are deployed on the basis of the automatic driving system 4031. The application 4032 is used to indirectly interact with the forklift via a messaging middleware client 4033. The automatic driving system 4031 can automatically calculate a waiting position according to the operation position sent by the TOS, and after entering the empty box area, can dynamically switch the empty box pile field area from the operation waiting position, the operation position and the operation position according to the received interaction information sent by the forklift, so that the full-automatic unmanned operation of the unmanned container truck in the empty box pile field area is realized.

In the data gateway 402, there are included: a message middleware server 4021 and an empty box job overall process monitor 4022. The processing and forwarding of each interactive information is realized through the message middleware server 4021. The empty box operation overall process monitor 4022 acquires communication data to realize real-time monitoring and post-incident supervision of the empty box loading and unloading operation process.

In the TOS401, there are included: a message middleware client 4011, an unmanned truck job task management module 4012, a forklift job task management module 4013 and another wharf job task management module 4014. The processing and forwarding of each interactive information is realized through the message middleware client 4011. The unmanned truck job task management module 4012 is used for managing the unmanned truck job tasks. The management of the operation tasks of the forklift is realized through the operation task management module 4013 of the forklift. The management of other wharf job tasks is realized by the other wharf job task management module 4014.

Data transmission among the forklift, the empty box unmanned hub and the TOS can be realized through a message middleware server 4021 deployed on the data gateway 402, a message middleware client 4011 deployed on the TOS401, a message middleware client 4042 deployed on the multifunctional onboard terminal of the forklift 404 and a message middleware client 4033 deployed on the unmanned hub 403.

Table 1 below is a data interaction table of the message middleware in the embodiment of the present application.

Based on the contents in table 1, fig. 5 is a schematic timing diagram of information flow among TOS, unmanned hub, forklift, and forklift operators in the embodiment of the present application, and as shown in fig. 5, the specific information flow timing sequence is:

1.1, sending an empty box operation task instruction to a stacking machine by the TOS;

the empty box job task instruction comprises the following steps: vehicle number, job site, container number, container model, etc.

1.2 the fork lift truck updates the task list, inserts a new operation instruction, enters an empty box field area but does not arrive at the position, or the map mark of the unmanned container truck which is not bound with the fork lift truck is changed into blue;

2.1, the TOS sends an empty box operation task instruction to the unmanned aggregate card;

2.2 the unmanned card collector enters an empty box field area, drives to an operation position and calculates the position of a waiting position;

2.3 locking the vehicle after the unmanned truck reaches a waiting position and stops stably;

2.4 the unmanned card concentrator sends the locking information of the waiting position to the whole forklift through the TOS;

and after entering the empty box area, the unmanned card concentrator sends the current position and the target operation position to the whole forklift at the frequency of not less than 1 Hz.

1.3 after finding that a certain unmanned truck enters a waiting position and locks the truck, the stacking machine selects to be matched with the unmanned truck and displays the recommended bound number;

1.4 the stacking machine reminds an operator that an unmanned card collector can be bound;

1.5 if the forklift operator determines that the forklift is idle, selecting 'recommended binding vehicle number' and binding an unmanned collecting card;

1.6 the stacking machine operator operates the stacking machine to bind the unmanned collecting card;

1.7 the stacker updates the task list, the status bar is 'vehicle arrival', and the unmanned truck map mark is changed into yellow;

1.8 the stacking machine informs an unmanned card collection to enter an operation position through TOS;

1.9 the unmanned truck goes to the operation position and locks the vehicle after arriving at the operation position and stopping stably;

1.10 the unmanned card collector sends information of arriving at an operation position and locking a car to the forklift through the TOS;

1.11 the stacker updates the task list, the status bar is 'in operation', and the unmanned truck map mark is changed into red;

1.12 the fork lift machine reminds an operator of available operation;

1.13 the operator of the stacking machine starts loading and unloading, the loading and unloading are finished, and after the channel is yielded, a 'card collecting task finishing' button is clicked, and the unmanned card collecting map mark is changed into green;

1.14 the forklift operator informs the forklift that the unmanned truck collecting task is completed;

1.15 the stacking machine reports the completion information of the unmanned card collecting operation to the TOS;

1.16TOS issues a new task instruction to the unmanned hub;

1.17 unlocking the unmanned card collection and driving away from the operation position;

1.18 the unmanned card concentrator reports unlocking driving-away information to the TOS;

1.19 the unmanned card concentrator leaves the operation position for 20 meters and then sends information of the driving-off operation position to the forklift through the TOS;

1.20 the fork lift machine reminds an operator to finish subsequent operation;

1.21 the stacker operator puts the unloaded container at a proper position, the boxing process is not operated, and then clicks a stacker task completion button;

1.22 the fork lift truck operator informs the fork lift truck of the completion of the task;

1.23 the stacker updates the task list, removes the vehicle binding, deletes the current task, and the unmanned truck map label is changed into blue;

1.24 the forklift reports the operation completion information of the forklift to the TOS.

Because the price of the small-sized empty box stacking machine is far lower than that of a large-sized gantry crane, the empty box area based on the stacking machine is adopted by container yards such as a plurality of wharfs in China from the aspect of economy. In order to realize the automation and the unmanned operation of the whole horizontal transportation process of the container, the unmanned container truck needs to know the manned problem of the current unmanned container truck operating in the empty container area. When the operation is carried out in the empty box area, the collecting card and the stacking machine have a more complex interactive flow. For the traditional method for operating the manned container truck in the empty box area, the interaction between the manned container truck and the manned forklift is judged and selected manually by drivers through whistling or gesture making among the drivers, and certain confusion is often generated, so that the efficiency is low. By adopting the method provided by the embodiment of the application, the error rate of interaction between the unmanned container truck and the stacking machine can be basically eliminated by means of an automatic interaction process and high-precision positioning, so that the operation efficiency of an empty container area is improved, and the overall operation efficiency of a port is finally improved.

Based on the same inventive concept, as the realization of the method, the embodiment of the application also provides an automatic operation system of the unmanned container truck in the port empty box yard. Fig. 6 is a schematic structural diagram of an automated operation system of an unmanned aggregate card in a port empty box yard according to an embodiment of the present application, and referring to fig. 6, the system may include:

the wharf operating system 601 is used for sending a loading and unloading instruction to the forklift and sending a shell position going instruction to the operation to the unmanned aggregate card;

the unmanned collecting card 602 is used for driving to a waiting position before operation according to a shell position instruction for going to the operation, and sending the current position and the waiting state to the wharf operating system;

the wharf operating system 601 is used for sending the current position and the waiting state of the unmanned container truck to the forklift;

the stacking machine 603 is used for binding the unmanned container truck and the container according to the operation information of an operator in the human-computer interaction module based on the current position and the waiting state of the unmanned container truck, and sending the bound unmanned container truck and the bound container truck to the wharf operation system through the wireless communication module;

the wharf operating system 601 is used for sending information of the forklift and the container to the unmanned hub;

the unmanned collecting card 602 is used for driving to an operation bay according to the information of the forklift and the container, and sending the current position and the vehicle locking state of the unmanned collecting card to the wharf operating system after the unmanned collecting card is stopped stably;

the wharf operating system 601 is used for sending the current position and the locking state of the unmanned truck to the forklift;

the stacking machine 603 is used for driving to the unmanned collecting card based on the current position and the vehicle locking state of the unmanned collecting card, loading and unloading the unmanned collecting card under the operation of an operator, driving away from a passing area of the unmanned collecting card after the loading and unloading are finished, and sending the current position and the state of finishing an operation task to the wharf operation system through the positioning module and the wireless communication module;

the wharf operating system 601 is used for sending a driving-away operation area instruction to the unmanned truck according to the current position of the forklift and the state of completing the operation task;

and the unmanned collecting card 602 is used for driving away from the operation area according to the driving away operation area command.

In other embodiments of the present application, the unmanned hub communicates with the terminal operating system through a port wireless communication private network, and the forklift communicates with the terminal operating system through a port wireless communication private network.

In other embodiments of the present application, the terminal operating system includes a monitoring module and a storage module;

the monitoring module is used for monitoring the interaction information among the wharf operating system, the unmanned container truck and the forklift;

and the storage module is used for storing the interaction information monitored by the monitoring module so as to facilitate post-supervision.

In other embodiments of the present application, the dock operating system includes an obtaining module, a splitting module, and a dividing module;

the acquisition module is used for acquiring the job task;

the splitting module is used for splitting the operation task into a plurality of subtasks according to the empty box loading and unloading process;

the dividing module is used for dividing the plurality of subtasks into a first subtask for controlling the unmanned hub and a second subtask for controlling the forklift according to the action objects of the subtasks, wherein the first subtask at least comprises a command for going to a work shell and a command for leaving a work area, and the second subtask at least comprises a loading and unloading command.

In other embodiments of the present application, the number of the loading and unloading instructions is multiple; the stacking machine comprises a receiving module, a sequencing module and a first execution module;

the receiving module is used for receiving a plurality of loading and unloading instructions;

the sequencing module is used for sequencing the loading and unloading instructions according to the waiting time of each loading and unloading instruction;

and the first execution module is used for binding the unmanned container truck and the container according to the operation information of an operator in the man-machine interaction module based on the current position and the waiting state of the unmanned container truck corresponding to the loading and unloading instruction with the longest waiting time.

In other embodiments of the present application, the forklift includes a display module, a recommendation module, and a second execution module;

the display module is used for at least displaying the position of the stacking machine, the positions and the states of all unmanned collecting cards in the empty box area, a waiting position, an operation position, a container position and a lane through the human-computer interaction module;

the recommending module is used for highlighting and recommending the bound unmanned collecting card and the container according to the position of the forklift and the positions and states of all the unmanned collecting cards and the principles of shortest relative path and most urgent time;

and the second execution module is used for binding the recommended unmanned container and the container according to the confirmation information of the operator in the man-machine interaction module.

In other embodiments of the present application, the load and unload instructions comprise a bin load instruction and a bin unload instruction; when the loading and unloading command is an unloading command:

the unmanned collecting card is also used for sending the current position and the driving-away state of the unmanned collecting card to the wharf operating system;

the wharf operating system is further used for determining whether the unmanned truck leaves the working area or not according to the current position and the driving-away state of the unmanned truck, and if so, sending an empty box stacking instruction to the forklift;

and the stacking machine is also used for driving to a target box position according to the empty box stacking instruction to perform stacking operation.

It is to be noted here that the above description of the system embodiment, like the above description of the method embodiment, has similar advantageous effects as the method embodiment. For technical details not disclosed in the embodiments of the system of the present application, reference is made to the description of the embodiments of the method of the present application for understanding.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An automated operation method of an unmanned collection card in a port empty box yard is characterized in that a stacking machine in the port empty box yard at least comprises the following steps: the system comprises a human-computer interaction module, a positioning module and a wireless communication module; the method comprises the following steps:

the wharf operating system sends a loading and unloading instruction to the forklift and sends a shell bit instruction for operation to the unmanned collection card;

the unmanned collecting card runs to a waiting position before operation according to the instruction of travelling to the operation shell position, and sends the current position and the waiting state to the wharf operating system;

the wharf operating system sends the current position and the waiting state of the unmanned collective card to the fork lift truck;

the stacking machine binds the unmanned collecting card and the container according to the operation information of an operator in the human-computer interaction module based on the current position and the waiting state of the unmanned collecting card, and sends the bound unmanned collecting card and the bound container to the wharf operation system through the wireless communication module;

the wharf operating system sends information of the stacking machine and the container to the unmanned container truck;

the unmanned collecting card runs to an operation bay according to the information of the stacking machine and the container, and sends the current position and the vehicle locking state of the unmanned collecting card to a wharf operating system after the unmanned collecting card is stopped stably;

the wharf operating system sends the current position and the locking state of the unmanned truck to the forklift;

the forklift drives to the unmanned collecting card based on the current position and the vehicle locking state of the unmanned collecting card, loads and unloads the unmanned collecting card under the operation of an operator, drives away from a passing area of the unmanned collecting card after the loading and unloading are finished, and sends the current position and the state of finishing an operation task to a wharf operation system through a positioning module and a wireless communication module;

the wharf operating system sends a driving-away operation area instruction to the unmanned truck according to the current position of the forklift and the state of completing the operation task;

and the unmanned collecting card drives away from the operation area according to the driving away operation area instruction.

2. The method of claim 1, wherein the unmanned hub communicates with the terminal operating system via a port private wireless communication network, and wherein the forklift communicates with the terminal operating system via a port private wireless communication network.

3. The method of claim 1, wherein the terminal operating system comprises a monitoring module and a storage module; before the wharf operating system sends a loading and unloading instruction to the forklift and sends a shell bit instruction for operation to the unmanned hub, the method further comprises the following steps:

the wharf operating system monitors the interactive information among the wharf operating system, the unmanned truck and the forklift through a monitoring module;

after the wharf operating system sends a loading and unloading instruction to the forklift and sends a shell-to-work instruction to the unmanned hub, the method further comprises the following steps:

and the wharf operating system stores the interaction information monitored by the monitoring module through a storage module so as to facilitate post supervision.

4. The method of claim 1, wherein prior to the dock operating system sending load and unload commands to the forklift according to job tasks and sending a go to job bite command to the unmanned hub, the method further comprises:

the wharf operating system acquires a job task;

the wharf operating system divides the operation task into a plurality of subtasks according to the empty box loading and unloading process;

the wharf operating system divides the plurality of subtasks into a first subtask for controlling the unmanned hub and a second subtask for controlling the forklift according to the action objects of the subtasks, wherein the first subtask at least comprises a command for going to a work shell and a command for going away from a work area, and the second subtask at least comprises a loading and unloading command.

5. The method of claim 1, wherein the number of load and unload instructions is a plurality; after the dock operating system sends a loading and unloading instruction to the forklift, the method further comprises:

the stacking machine receives a plurality of loading and unloading instructions;

the stacking machine sequences the loading and unloading instructions according to the waiting time of the loading and unloading instructions;

the stacking machine binds the unmanned container truck and the container according to the operation information of an operator in the human-computer interaction module based on the current position and the waiting state of the unmanned container truck, and comprises the following steps:

and the stacking machine binds the unmanned collecting card and the container according to the operation information of an operator in the man-machine interaction module based on the current position and the waiting state of the unmanned collecting card corresponding to the loading and unloading instruction with the longest waiting time.

6. The method of claim 1, wherein the forklift binding the unmanned hub and the container according to the operation information of the operator in the human-computer interaction module based on the current position and the waiting state of the unmanned hub comprises:

the stacking machine at least displays the position of the stacking machine, the positions and the states of all unmanned collecting cards in the empty box area, a waiting position, an operation position, a container position and a lane through a human-computer interaction module;

the stacking machine highlights recommended unmanned collecting cards and containers according to the position of the stacking machine, the positions and the states of all the unmanned collecting cards and the principles of shortest relative path and most urgent time;

and the stacking machine binds the recommended unmanned collecting card and the container according to the confirmation information of the operator in the man-machine interaction module.

7. The method of claim 1, wherein the loading and unloading instructions comprise a bin loading instruction and a bin unloading instruction; when the loading and unloading command is a box unloading command, after the unmanned truck drives away from the operation area according to the driving away operation area command, the method further comprises the following steps:

the unmanned hub card sends the current position and the driving-away state of the unmanned hub card to a wharf operating system;

the wharf operating system determines whether the unmanned truck leaves the working area or not according to the current position and the driving-away state of the unmanned truck, and if so, sends an empty box stacking instruction to the stacking machine;

and the stacking machine drives to a target box position according to the empty box stacking instruction to perform stacking operation.

8. An automated operation system of an unmanned container truck in a port empty box yard, characterized in that a stacker in the port empty box yard at least comprises: the system comprises a human-computer interaction module, a positioning module and a wireless communication module; the system comprises:

the wharf operating system is used for sending a loading and unloading instruction to the forklift and sending an instruction for going to a working shell position to the unmanned hub;

the unmanned collecting card is used for driving to a waiting position before operation according to the instruction of the shell position of the operation and sending the current position and the waiting state to the wharf operating system;

the wharf operating system is used for sending the current position and the waiting state of the unmanned container truck to the forklift;

the stacking machine is used for binding the unmanned container truck and the container according to the operation information of an operator in the human-computer interaction module based on the current position and the waiting state of the unmanned container truck and sending the bound unmanned container truck and the bound container truck to the wharf operation system through the wireless communication module;

the wharf operating system is used for sending information of the stacking machine and the container to the unmanned container truck;

the unmanned collecting card is used for driving to an operation berth according to the information of the stacking machine and the container, and sending the current position and the vehicle locking state of the unmanned collecting card to the wharf operating system after the unmanned collecting card is stopped stably;

the wharf operating system is used for sending the current position and the vehicle locking state of the unmanned container truck to the forklift;

the stacking machine is used for driving to the unmanned collecting card based on the current position and the vehicle locking state of the unmanned collecting card, loading and unloading the unmanned collecting card under the operation of an operator, driving away from a passing area of the unmanned collecting card after the loading and unloading are finished, and sending the current position and the state of finishing an operation task to the wharf operation system through the positioning module and the wireless communication module;

the wharf operating system is used for sending a driving-away operation area instruction to the unmanned truck according to the current position of the forklift and the state of completing the operation task;

and the unmanned collecting card is used for driving away from the operation area according to the driving away operation area command.

9. The system of claim 8, wherein said unmanned hub communicates with said terminal operating system via a port wireless communication private network, and wherein said forklift communicates with said terminal operating system via a port wireless communication private network.

10. The system of claim 8, wherein the terminal operating system comprises a monitoring module and a storage module;